有界外乱下の区分アフィンシステムの階層制御のためのロバスト近似シミュレーション
Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
区分アフィン系を低次元の線形系や単純な区分アフィン系で近似し、有界外乱があっても出力誤差を抑えて追従させるロバストな階層制御手法を提案した論文。
著者: Zihao Song, Vince Kurtz, Shirantha Welikala, Panos J. Antsaklis, Hai Lin
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control methods have poor scalability with respect to the number of modes and system dimensions and may not be robust to the disturbances in performance. In this paper, we present a robust approximate simulation based control method for PWA systems under bounded external disturbances. First, a lower-dimensional linear system (abstraction) and an associated interface are designed to enable the output of the PWA system (concrete system) to track the output of the abstraction. Then, a Lyapunov-like simulation function is designed to show the boundedness of the output errors between the two systems. Furthermore, the results obtained for linear abstraction are extended to the case that a simpler PWA system is the abstraction. To illustrate the effectiveness of the proposed approach, simulation results are provided for two design examples.
